From 30456b2669b09e1c76cd439bd2b44b479f2d0f10 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Mon, 6 Nov 2023 14:33:10 +0900
Subject: [PATCH 1/4] feat(ndt_scan_matcher): use glog

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 localization/ndt_scan_matcher/CMakeLists.txt                | 3 ++-
 localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp | 4 ++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt
index 79491a85a0a66..6fe61cd25bc6e 100644
--- a/localization/ndt_scan_matcher/CMakeLists.txt
+++ b/localization/ndt_scan_matcher/CMakeLists.txt
@@ -22,6 +22,7 @@ else()
   endif()
 endif()
 
+find_package(glog REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io registration)
 include_directories(${PCL_INCLUDE_DIRS})
 
@@ -34,7 +35,7 @@ ament_auto_add_executable(ndt_scan_matcher
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES})
+target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog)
 
 if(BUILD_TESTING)
   add_ros_test(
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
index be6b398d7738e..676430ef7b35e 100644
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
+++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
@@ -15,9 +15,13 @@
 #include "ndt_scan_matcher/ndt_scan_matcher_core.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <glog/logging.h>
 
 int main(int argc, char ** argv)
 {
+  google::InitGoogleLogging(argv[0]);
+  google::InstallFailureSignalHandler();
+
   rclcpp::init(argc, argv);
   auto ndt_scan_matcher = std::make_shared<NDTScanMatcher>();
   rclcpp::executors::MultiThreadedExecutor exec;

From 23020838805ba0404dad319def63ad7eae228a1b Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 6 Nov 2023 05:34:09 +0000
Subject: [PATCH 2/4] style(pre-commit): autofix

---
 localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
index 676430ef7b35e..d5ea544d3c5e5 100644
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
+++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
@@ -15,6 +15,7 @@
 #include "ndt_scan_matcher/ndt_scan_matcher_core.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+
 #include <glog/logging.h>
 
 int main(int argc, char ** argv)

From a858ddd8fa99f734511a47a57bd5e53c16707818 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Mon, 6 Nov 2023 15:48:54 +0900
Subject: [PATCH 3/4] update

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 localization/ndt_scan_matcher/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index a9083c4ae0ae4..6b030eb39349d 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -19,6 +19,7 @@
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
+  <depend>libgoogle-glog-dev</depend>
   <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>ndt_omp</depend>

From 456941e80cb88c8b396aae3af6e448c8f08bde9d Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 6 Nov 2023 06:51:17 +0000
Subject: [PATCH 4/4] style(pre-commit): autofix

---
 localization/ndt_scan_matcher/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index 6b030eb39349d..dcfdd77cb5a18 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -18,8 +18,8 @@
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
-  <depend>libpcl-all-dev</depend>
   <depend>libgoogle-glog-dev</depend>
+  <depend>libpcl-all-dev</depend>
   <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>ndt_omp</depend>